angular orientation
the orientation of the vehicle axis system (x,y,z) with respect to the earth-fixed axis system (x,y,z) is given by a sequence of three angular rotations. The following sequence of rotations, starting from a condition in which the two sets of axes are initially aligned, is defined to be the standard:
- a yaw rotation, Y, about the aligned z- and Z-axis; - a pitch rotation, O, about the vehicle y-axis; - a roll rotation, 0, about the vehicle x-axis.

Mechanics glossary. 2013.

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